CN113799104B - Four-degree-of-freedom parallel mechanism with symmetrical branched chains - Google Patents
Four-degree-of-freedom parallel mechanism with symmetrical branched chains Download PDFInfo
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- CN113799104B CN113799104B CN202111320087.7A CN202111320087A CN113799104B CN 113799104 B CN113799104 B CN 113799104B CN 202111320087 A CN202111320087 A CN 202111320087A CN 113799104 B CN113799104 B CN 113799104B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
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Abstract
A four-degree-of-freedom parallel mechanism with symmetrical branched chains. The device comprises a fixed platform, a movable platform, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain, and has two degrees of freedom of movement and rotation. The invention has the advantages that: firstly, the branch chain combination of the screw rod and the telescopic cylinder is adopted, so that the degree of freedom required by the mechanism is ensured, the number of redundant branch chains is reduced, the error of the branch chains caused by mutual interference is reduced, and the movement space of the mechanism is greatly improved; secondly, two groups of symmetrical branched chains are matched, so that the whole mechanism is in plane symmetry, and isotropy of the mechanism is enhanced; and finally, the adopted symmetrical branched chains are completely consistent, the structure is simple and convenient, and the processing cost and the replacement cost are reduced.
Description
Technical Field
The invention belongs to the technical field of parallel mechanisms, and particularly relates to a four-degree-of-freedom parallel mechanism with symmetrical branched chains.
Background
The parallel mechanism has the advantages of higher precision, better isotropy, large bearing capacity and the like, and is widely applied to various industries, in particular to civil aviation maintenance industry requiring high-precision polishing.
The parallel mechanism with two translational motion, two rotational motion and four degrees of freedom has a bright future, but most parallel mechanisms with four degrees of freedom have complex structures and unique components, and if a single part is problematic and cannot be repaired in time, the mechanism cannot work for a long time, so that huge economic benefit loss is caused.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a four-degree-of-freedom parallel mechanism having symmetrical branches.
In order to achieve the above purpose, the four-degree-of-freedom parallel mechanism with symmetrical branched chains provided by the invention comprises a fixed platform, a movable platform, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain;
the fixed platform comprises a base, a supporting table and a first hinge seat; the base is horizontally arranged, the lower ends of the two supporting tables are symmetrically fixed in the middle of the left and right parts of the upper surface of the base, and the two supporting tables are obliquely arranged inwards; the two first hinge seats are symmetrically fixed in the middle of the front and rear parts of the upper surface of the base;
the movable platform comprises a spherical hinge support mounting surface, a first spherical hinge support, a second spherical hinge support and a bedplate; the four spherical hinge support mounting surfaces are symmetrically arranged at the left and right parts of the lower surface of the bedplate and at the middle parts of the front and rear parts of the lower surface of the bedplate; the two first spherical hinge supports and the two second spherical hinge supports are respectively fixed on the mounting surfaces of the two opposite spherical hinge supports;
the first branched chain and the second branched chain are identical in structure and symmetrically arranged, and each first branched chain comprises a first connecting rod assembly and a first driving assembly; the first driving assembly comprises a first motor, a bottom plate, a first guide rail, a first lead screw, a first sliding block, a connecting plate and a coupler; the lower surface of the bottom plate is fixed on the upper surface of a supporting table on the fixed platform; the first lead screw is positioned outside the middle part of the upper surface of the bottom plate along the length direction of the bottom plate; the first motor is fixed at the lower end of the bottom plate, the output shaft is connected with one end of the first screw rod through the coupler, and the other end of the first screw rod is fixed at the upper end of the bottom plate in a rotating mode; the two first guide rails are respectively fixed at two side parts of the upper surface of the bottom plate in a manner of being parallel to the first lead screw; two side parts of the lower end of the first sliding block are arranged on the two first guide rails in a sliding manner; the bottom surface of the connecting plate is fixed on the upper surface of the first sliding block, and the middle part of the connecting plate is sleeved on the first lead screw, so that the connecting plate can reciprocate along the first guide rail under the drive of the first motor and the first lead screw; the first connecting rod assembly comprises a fixed-length rod, a first spherical hinge and a first sliding block hinge seat; one end of the fixed length rod is fixedly provided with a first spherical hinge which is rotationally connected with a first spherical hinge support on the movable platform to form a first spherical pair; the other end of the fixed length rod is rotationally connected with a first sliding block hinge seat fixed on the connecting plate to form a first rotating pair;
the third branched chain and the fourth branched chain are identical in structure and symmetrically arranged, and each third branched chain and the fourth branched chain comprise a second connecting rod assembly, a second motor and a second hinge seat; the second connecting rod assembly comprises a telescopic cylinder and a second spherical hinge, and the telescopic cylinder consists of a cylinder body and a telescopic rod at the inner end part in the cylinder body; the cylinder body of the telescopic cylinder and the second motor are fixed at the upper end of the second hinge seat side by side, and the output end of the second motor is connected with the inner end part of the telescopic rod, so that the telescopic rod can be driven to stretch; the second spherical hinge is fixed at the outer end of the telescopic rod and is rotationally connected with a second spherical hinge support on the movable platform to form a second spherical pair; the lower end of the second hinge seat is rotationally connected with a first hinge seat on the base through a universal shaft to form a Hooke hinge, and two rotation axes of the Hooke hinge are mutually perpendicular.
The base is of a rectangular plate-shaped structure.
The included angle between the upper surface of the supporting table and the upper surface of the base is 60 degrees.
The movable platform is of a square platy structure, and a mounting hole is formed in the middle of the movable platform; the first spherical hinge support and the second spherical hinge support have the same structure.
The fixed length rod is a cylindrical rod.
The four-degree-of-freedom parallel mechanism with symmetrical branched chains provided by the invention has the following advantages:
1. the combination of the screw rod and the branched chain of the telescopic cylinder is adopted, so that the degree of freedom required by the mechanism is ensured, the number of redundant branched chains is reduced, the error of the branched chains caused by mutual interference is reduced, and the movement space of the mechanism is greatly improved.
2. The two groups of symmetrical branched chains are matched, so that the whole mechanism is plane symmetrical, and the isotropy of the mechanism is enhanced.
3. The adopted symmetrical branched chains are completely consistent, the structure is simple and convenient, and the processing cost and the replacement cost are reduced.
Drawings
Fig. 1 is a schematic structural diagram of a four-degree-of-freedom parallel mechanism with symmetrical branched chains.
Fig. 2 is a schematic diagram of a fixed platform structure in a four-degree-of-freedom parallel mechanism with symmetrical branched chains.
Fig. 3 is a schematic diagram of a moving platform in a four-degree-of-freedom parallel mechanism with symmetrical branched chains.
Fig. 4 is a schematic diagram of a first branched chain structure in a four-degree-of-freedom parallel mechanism with symmetrical branched chains.
Fig. 5 is a schematic structural diagram of a first driving assembly in a four-degree-of-freedom parallel mechanism with symmetrical branched chains according to the present invention.
Fig. 6 is a schematic diagram of a third branch structure in the four-degree-of-freedom parallel mechanism with symmetrical branches according to the present invention.
Detailed Description
The four-degree-of-freedom parallel mechanism with symmetrical branched chains provided by the invention is described in detail below with reference to the accompanying drawings.
As shown in figures 1-6, the four-degree-of-freedom parallel mechanism with symmetrical branched chains provided by the invention comprises a fixed platform 1, a movable platform 2, a first branched chain I, a second branched chain II, a third branched chain III and a fourth branched chain IV;
wherein, the fixed platform 1 comprises a base 101, a supporting table 102 and a first hinge base 6; the base 101 is horizontally arranged, the lower ends of the two support tables 102 are symmetrically fixed in the middle of the left and right parts of the upper surface of the base 101, and the two support tables 102 are obliquely arranged inwards; the two first hinge bases 6 are symmetrically fixed in the middle of the front and rear parts of the upper surface of the base 101;
the movable platform 2 comprises a spherical hinge support mounting surface 201, a first spherical hinge support 9, a second spherical hinge support 13 and a bedplate 204; the four spherical hinge support mounting surfaces 201 are symmetrically arranged at the middle parts of the left and right parts and the front and rear parts of the lower surface of the bedplate 204; the two first spherical hinge supports 9 and the two second spherical hinge supports 13 are respectively fixed on two opposite spherical hinge support mounting surfaces 201;
the first branched chain I and the second branched chain II are identical in structure and are symmetrically arranged, and each first branched chain I and the second branched chain II comprises a first connecting rod assembly 3 and a first driving assembly 30; wherein the first drive assembly 30 comprises a first motor 10, a base plate 301, a first guide rail 302, a first lead screw 303, a first slider 304, a connecting plate 305 and a coupling 306; the lower surface of the bottom plate 301 is fixed on the upper surface of one supporting table 102 on the fixed platform 1; the first screw 303 is located outside the middle of the upper surface of the base plate 301 along the length direction of the base plate 301; the first motor 10 is fixed at the lower end of the bottom plate 301, an output shaft is connected with one end of a first screw 303 through a coupler 306, and the other end of the first screw 303 is fixed at the upper end of the bottom plate 301 in a rotating manner; two first guide rails 302 are fixed to both sides of the upper surface of the base plate 301 in parallel with the first lead screw 303; two side parts of the lower end of the first sliding block 304 are arranged on the two first guide rails 302 in a sliding manner; the bottom surface of the connecting plate 305 is fixed on the upper surface of the first slider 304, and the middle part is sleeved on the first lead screw 303, so that the connecting plate can reciprocate along the first guide rail 302 under the drive of the first motor 10 and the first lead screw 303; the first connecting rod assembly 3 comprises a fixed length rod 14, a first spherical hinge 8 and a first sliding block hinge seat 5; one end of the fixed length rod 14 is fixedly provided with a first spherical hinge 8, and the first spherical hinge 8 is rotationally connected with a first spherical hinge support 9 on the movable platform 2 to form a first spherical pair 15; the other end of the fixed length rod 14 is rotatably connected with a first sliding block hinge seat 5 fixed on the connecting plate 305 to form a first rotating pair 501;
the third branched chain III and the fourth branched chain IV are identical in structure and are symmetrically arranged, and each third branched chain III and the fourth branched chain IV comprise a second connecting rod assembly 4, a second motor 11 and a second hinge seat 7; the second connecting rod assembly 4 comprises a telescopic cylinder 401 and a second spherical hinge 12, wherein the telescopic cylinder 401 is composed of a cylinder body and a telescopic rod of which the inner end is positioned in the cylinder body; the cylinder body of the telescopic cylinder 401 and the second motor 11 are fixed at the upper end of the second hinge base 7 in parallel, and the output end of the second motor 11 is connected with the inner end part of the telescopic rod, so that the telescopic rod can be driven to extend and retract; the second spherical hinge 12 is fixed at the outer end of the telescopic rod and is rotationally connected with a second spherical hinge support 13 on the movable platform 2 to form a second spherical pair 16; the lower end of the second hinge base 7 is rotatably connected with a first hinge base on the base 101 through a universal shaft 17 to form a hook joint 601, and two rotation axes of the hook joint 601 are mutually perpendicular.
The base 101 has a rectangular plate-like structure.
The included angle between the upper surface of the supporting table 102 and the upper surface of the base 101 is 60 °.
The movable platform 2 is of a square platy structure, and a mounting hole is formed in the middle of the movable platform; the first spherical hinge support 9 and the second spherical hinge support 13 have the same structure.
The fixed length bar 14 is a cylindrical bar.
The working principle of the four-degree-of-freedom parallel mechanism with symmetrical branched chains provided by the invention is explained as follows, wherein the direction perpendicular to the base 101 is taken as the z-axis direction, the front-back direction is taken as the x-axis direction, and the y-axis direction is determined by a right-hand rule:
the four-degree-of-freedom parallel mechanism with symmetrical branched chains provided by the invention selects two first screw rods 303 and two telescopic cylinders 401 as driving parts, so that two movements and two rotations of the movable platform 2 can be realized to share four degrees of freedom; the two second motors 11 are utilized to enable the telescopic rods on the two telescopic cylinders 401 to extend or retract reversely and equidistantly, and simultaneously lock the two first lead screws 303, so that the rotational freedom degree of the movable platform 2 around the y axis can be realized; the two first motors 10 are used for driving the two first lead screws 303 to rotate, so that the two first sliding blocks 304 move in a mirror direction at unequal intervals, and the degree of freedom of rotation of the movable platform 2 around the x axis can be realized; the two first motors 10 are used for driving the two first lead screws 303 to rotate, so that the movement components of the two first sliding blocks 304 in the z-axis direction are equal, and the movement freedom degree of the movable platform 2 along the z-axis can be realized by matching with the telescopic cylinder 401; by driving the two first lead screws 303 to rotate, the movement components of the two first sliding blocks 304 in the z-axis direction are unequal, and the two first sliding blocks are matched with the telescopic cylinder 401, so that the movement freedom degree of the movable platform 2 along the y-axis can be realized. Finally, through the cooperation of each driving part on the first branched chain I, the second branched chain II, the third branched chain III and the fourth branched chain, the movable platform 2 can realize four degrees of freedom of movement along the y-axis and z-axis directions and the rotational degrees of freedom around the x-axis and the y-axis.
Claims (5)
1. A four-degree-of-freedom parallel mechanism with symmetrical branched chains is characterized in that: the four-degree-of-freedom parallel mechanism with the symmetrical branched chains comprises a fixed platform (1), a movable platform (2), a first branched chain (I), a second branched chain (II), a third branched chain (III) and a fourth branched chain (IV);
the fixed platform (1) comprises a base (101), a supporting table (102) and a first hinge seat (6); the base (101) is horizontally arranged, the lower ends of the two supporting tables (102) are symmetrically fixed in the middle of the left and right parts of the upper surface of the base (101), and the two supporting tables (102) are obliquely arranged inwards; the two first hinge seats (6) are symmetrically fixed in the middle of the front and rear parts of the upper surface of the base (101);
the movable platform (2) comprises a spherical hinge support mounting surface (201), a first spherical hinge support (9), a second spherical hinge support (13) and a bedplate (204); the four spherical hinge support mounting surfaces (201) are symmetrically arranged at the left and right parts of the lower surface of the bedplate (204) and at the middle parts of the front and rear parts; the two first spherical hinge supports (9) and the two second spherical hinge supports (13) are respectively fixed on two opposite spherical hinge support mounting surfaces (201);
the first branched chain (I) and the second branched chain (II) are identical in structure and are symmetrically arranged, and each first branched chain comprises a first connecting rod assembly (3) and a first driving assembly (30); the first driving assembly (30) comprises a first motor (10), a bottom plate (301), a first guide rail (302), a first lead screw (303), a first sliding block (304), a connecting plate (305) and a coupler (306); the lower surface of the bottom plate (301) is fixed on the upper surface of a supporting table (102) on the fixed platform (1); the first lead screw (303) is positioned outside the middle part of the upper surface of the bottom plate (301) along the length direction of the bottom plate (301); the first motor (10) is fixed at the lower end of the bottom plate (301), the output shaft is connected with one end of a first screw rod (303) through a coupler (306), and the other end of the first screw rod (303) is fixed at the upper end of the bottom plate (301) in a rotating mode; two first guide rails (302) are respectively fixed on two sides of the upper surface of the bottom plate (301) in a manner of being parallel to the first lead screw (303); two side parts of the lower end of the first sliding block (304) are arranged on the two first guide rails (302) in a sliding manner; the bottom surface of the connecting plate (305) is fixed on the upper surface of the first sliding block (304), and the middle part of the connecting plate is sleeved on the first lead screw (303), so that the connecting plate can reciprocate along the first guide rail (302) under the driving of the first motor (10) and the first lead screw (303); the first connecting rod assembly (3) comprises a fixed-length rod (14), a first spherical hinge (8) and a first sliding block hinge seat (5); one end of the fixed length rod (14) is fixedly provided with a first spherical hinge (8), and the first spherical hinge (8) is rotationally connected with a first spherical hinge support (9) on the movable platform (2) to form a first spherical pair (15); the other end of the fixed length rod (14) is rotationally connected with a first sliding block hinge seat (5) fixed on the connecting plate (305) to form a first rotating pair (501);
the third branched chain (III) and the fourth branched chain (IV) are identical in structure and are symmetrically arranged, and each third branched chain comprises a second connecting rod assembly (4), a second motor (11) and a second hinge seat (7); the second connecting rod assembly (4) comprises a telescopic cylinder (401) and a second spherical hinge (12), and the telescopic cylinder (401) is composed of a cylinder body and a telescopic rod at the inner end part in the cylinder body; the cylinder body of the telescopic cylinder (401) and the second motor (11) are fixed at the upper end of the second hinge seat (7) in parallel, and the output end of the second motor (11) is connected with the inner end part of the telescopic rod, so that the telescopic rod can be driven to stretch; the second spherical hinge (12) is fixed at the outer end of the telescopic rod and is rotationally connected with a second spherical hinge support (13) on the movable platform (2) to form a second spherical pair (16); the lower end of the second hinge seat (7) is rotationally connected with a first hinge seat on the base (101) through a universal shaft (17) to form a Hooke hinge (601), and two rotation axes of the Hooke hinge (601) are mutually perpendicular.
2. The four-degree-of-freedom parallel mechanism with symmetrical branching of claim 1, wherein: the base (101) is of a rectangular plate-shaped structure.
3. The four-degree-of-freedom parallel mechanism with symmetrical branching of claim 1, wherein: the included angle between the upper surface of the supporting table (102) and the upper surface of the base (101) is 60 degrees.
4. The four-degree-of-freedom parallel mechanism with symmetrical branching of claim 1, wherein: the movable platform (2) is of a square platy structure, and a mounting hole is formed in the middle of the movable platform; the first spherical hinge support (9) and the second spherical hinge support (13) have the same structure.
5. The four-degree-of-freedom parallel mechanism with symmetrical branching of claim 1, wherein: the fixed length rod (14) is a cylindrical rod.
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| CN202111320087.7A CN113799104B (en) | 2021-11-09 | 2021-11-09 | Four-degree-of-freedom parallel mechanism with symmetrical branched chains |
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| CN114248255B (en) * | 2021-12-27 | 2023-11-17 | 北京交通大学 | Five-degree-of-freedom parallel mechanism for adjusting belt laying pose |
| CN114434420B (en) * | 2021-12-31 | 2023-07-04 | 德清县浙工大莫干山研究院 | Four-foot type movable operation platform capable of determining pose |
| CN115533930A (en) * | 2022-09-08 | 2022-12-30 | 天津大学 | Novel large-scale unit assembly robot in aircraft cabin |
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